﻿using System;
using System.Collections.Generic;
using System.Text;

namespace LocalizationTest
{
  public class Experiment2DLandmarkDetectors : Experiment
  {
    public Experiment2DLandmarkDetectors()
    {
      map = new MapWithSingleLandmark();
      motionModel = new MotionModel2D();
      sensors = new List<Sensor>();
      sensors.Add(new BearingSensorLimitedAngle(MapWithLandmarks.LandmarkIDs.centerLeftFlag, 0, Math.PI / 1.5));
//      sensors.Add(new LandmarkDetectionSensor(MapWithLandmarks.LandmarkIDs.tvTower, 0, Math.PI / 3.0));
//      sensors.Add(new LandmarkDetectionSensor(MapWithLandmarks.LandmarkIDs.tvTower, Math.PI, Math.PI / 3.0));
      typeOfActionDescription = typeof(DiscreteAction2D);

      actionAndObservationHistory = new ActionAndObservationHistory();
      simulatedWorldState = new WorldState2D(Globals.stateSpaceInitialX, Globals.stateSpaceInitialY);
    }
  }
}
